کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Experimental identification of dynamic friction parameters with the intention of precision optimal control of model based robotic systems

نویسندگان :

Naeim Yousefi Lademakhi¹ Paria Moradi² Moharram Habibnejad Korayem³

1- دانشگاه علم و صنعت ایران 2- دانشگاه علم و صنعت ایران 3- دانشگاه علم و صنعت ایران

کلمات کلیدی :

Friction identification, Least-square, Recursive least-square, State-dependent Riccati equation, robot manipulator

چکیده :

In this paper, the difference in the position and the velocity of input and output angles is considered as friction and, its value is estimated using the methods of least-squares error identification with two direct and recursive approaches. The selected techniques, considering simplicity and reduction of computational volume and high execution speed, have a good performance in determining the parameters of friction model, and as a result, achieve a relatively accurate model close to the actual model of system. Then, the SDRE approach is used as a nonlinear optimal control method. The suggested approach is simulated for a two degrees of freedom mechanical arm with assuming a friction model. To verify the performance of identification algorithms, the Experimental tests have been implemented on a single mechanical arm. By satisfactorily identifying the friction parameters and compensating it by the SDRE controller, the final error of End-effector is reduced.